jaxsim 0.6.2.dev2__py3-none-any.whl → 0.6.2.dev102__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- jaxsim/__init__.py +1 -1
- jaxsim/_version.py +2 -2
- jaxsim/api/__init__.py +3 -1
- jaxsim/api/actuation_model.py +96 -0
- jaxsim/api/com.py +8 -8
- jaxsim/api/contact.py +15 -255
- jaxsim/api/contact_model.py +101 -0
- jaxsim/api/data.py +258 -556
- jaxsim/api/frame.py +7 -7
- jaxsim/api/integrators.py +76 -0
- jaxsim/api/kin_dyn_parameters.py +41 -58
- jaxsim/api/link.py +7 -7
- jaxsim/api/model.py +190 -453
- jaxsim/api/ode.py +34 -338
- jaxsim/api/references.py +2 -2
- jaxsim/exceptions.py +2 -2
- jaxsim/math/__init__.py +4 -3
- jaxsim/math/joint_model.py +17 -107
- jaxsim/mujoco/model.py +1 -1
- jaxsim/mujoco/utils.py +2 -2
- jaxsim/parsers/kinematic_graph.py +1 -3
- jaxsim/rbda/aba.py +7 -4
- jaxsim/rbda/collidable_points.py +7 -98
- jaxsim/rbda/contacts/__init__.py +2 -10
- jaxsim/rbda/contacts/common.py +0 -138
- jaxsim/rbda/contacts/relaxed_rigid.py +154 -9
- jaxsim/rbda/crba.py +5 -2
- jaxsim/rbda/forward_kinematics.py +37 -12
- jaxsim/rbda/jacobian.py +15 -6
- jaxsim/rbda/rnea.py +7 -4
- jaxsim/rbda/utils.py +3 -3
- jaxsim/utils/jaxsim_dataclass.py +5 -1
- {jaxsim-0.6.2.dev2.dist-info → jaxsim-0.6.2.dev102.dist-info}/METADATA +7 -9
- jaxsim-0.6.2.dev102.dist-info/RECORD +69 -0
- jaxsim/api/ode_data.py +0 -401
- jaxsim/integrators/__init__.py +0 -2
- jaxsim/integrators/common.py +0 -592
- jaxsim/integrators/fixed_step.py +0 -153
- jaxsim/integrators/variable_step.py +0 -706
- jaxsim/rbda/contacts/rigid.py +0 -462
- jaxsim/rbda/contacts/soft.py +0 -480
- jaxsim/rbda/contacts/visco_elastic.py +0 -1066
- jaxsim-0.6.2.dev2.dist-info/RECORD +0 -74
- {jaxsim-0.6.2.dev2.dist-info → jaxsim-0.6.2.dev102.dist-info}/LICENSE +0 -0
- {jaxsim-0.6.2.dev2.dist-info → jaxsim-0.6.2.dev102.dist-info}/WHEEL +0 -0
- {jaxsim-0.6.2.dev2.dist-info → jaxsim-0.6.2.dev102.dist-info}/top_level.txt +0 -0
jaxsim/integrators/fixed_step.py
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import dataclasses
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from typing import ClassVar, Generic
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import jax.numpy as jnp
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import jax_dataclasses
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import jaxsim.api as js
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import jaxsim.typing as jtp
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from .common import ExplicitRungeKutta, ExplicitRungeKuttaSO3Mixin, PyTreeType
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ODEStateDerivative = js.ode_data.ODEState
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# =====================================================
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# Explicit Runge-Kutta integrators operating on PyTrees
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# =====================================================
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@jax_dataclasses.pytree_dataclass
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class ForwardEuler(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
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"""
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Forward Euler integrator.
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"""
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A: jtp.Matrix = dataclasses.field(
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default_factory=lambda: jnp.atleast_2d(0).astype(float), compare=False
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)
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b: jtp.Matrix = dataclasses.field(
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default_factory=lambda: jnp.atleast_2d(1).astype(float), compare=False
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)
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c: jtp.Vector = dataclasses.field(
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default_factory=lambda: jnp.atleast_1d(0).astype(float), compare=False
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)
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row_index_of_solution: int = 0
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order_of_bT_rows: tuple[int, ...] = (1,)
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index_of_fsal: jtp.IntLike | None = None
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fsal_enabled_if_supported: bool = False
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@jax_dataclasses.pytree_dataclass
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class Heun2(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
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"""
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Heun's second-order integrator.
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"""
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A: jtp.Matrix = dataclasses.field(
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default_factory=lambda: jnp.array(
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[
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[0, 0],
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[1, 0],
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).astype(float),
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compare=False,
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b: jtp.Matrix = dataclasses.field(
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default_factory=lambda: (
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jnp.atleast_2d(
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jnp.array([1 / 2, 1 / 2]),
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.astype(float)
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.transpose()
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),
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compare=False,
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c: jtp.Vector = dataclasses.field(
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default_factory=lambda: jnp.array(
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[0, 1],
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).astype(float),
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compare=False,
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row_index_of_solution: ClassVar[int] = 0
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order_of_bT_rows: ClassVar[tuple[int, ...]] = (2,)
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index_of_fsal: jtp.IntLike | None = None
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fsal_enabled_if_supported: bool = False
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@jax_dataclasses.pytree_dataclass
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class RungeKutta4(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
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"""
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Fourth-order Runge-Kutta integrator.
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A: jtp.Matrix = dataclasses.field(
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default_factory=lambda: jnp.array(
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[
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[0, 0, 0, 0],
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[1 / 2, 0, 0, 0],
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[0, 1 / 2, 0, 0],
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[0, 0, 1, 0],
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b: jtp.Matrix = dataclasses.field(
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default_factory=lambda: (
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jnp.atleast_2d(
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jnp.array([1 / 6, 1 / 3, 1 / 3, 1 / 6]),
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.astype(float)
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c: jtp.Vector = dataclasses.field(
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default_factory=lambda: jnp.array(
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[0, 1 / 2, 1 / 2, 1],
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row_index_of_solution: ClassVar[int] = 0
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order_of_bT_rows: ClassVar[tuple[int, ...]] = (4,)
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index_of_fsal: jtp.IntLike | None = None
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fsal_enabled_if_supported: bool = False
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# ===============================================================================
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# Explicit Runge-Kutta integrators operating on ODEState and integrating on SO(3)
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# ===============================================================================
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@jax_dataclasses.pytree_dataclass
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class ForwardEulerSO3(ExplicitRungeKuttaSO3Mixin, ForwardEuler[js.ode_data.ODEState]):
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"""
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Forward Euler integrator for SO(3) states.
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"""
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pass
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@jax_dataclasses.pytree_dataclass
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class Heun2SO3(ExplicitRungeKuttaSO3Mixin, Heun2[js.ode_data.ODEState]):
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"""
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Heun's second-order integrator for SO(3) states.
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"""
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pass
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@jax_dataclasses.pytree_dataclass
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class RungeKutta4SO3(ExplicitRungeKuttaSO3Mixin, RungeKutta4[js.ode_data.ODEState]):
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"""
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Fourth-order Runge-Kutta integrator for SO(3) states.
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"""
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pass
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